JP2019170076A - Contactless charging system for unmanned carrier and unmanned carrier - Google Patents

Abstract

To provide a contactless charging system for an unmanned carrier that is capable of improving the operation efficiency of an unmanned carrier, and the unmanned carrier.SOLUTION: A contactless charging system for an unmanned carrier comprises: a container unmanned carrier 17 having an electric motor 59, an accumulation device 53, and a power reception coil 63 which can receive electric power in a non-contact manner; and a power transmission device 60 which is provide separately from the container unmanned carrier 17 and can transmit electric power to the power reception coil 63 with in a non-contact manner. The contactless charging system for an unmanned carrier further comprises: a load transfer device that transfers a load onto the container unmanned carrier 17 while it is stopped at a load transfer position predefined on a running path 16 for the container unmanned carrier 17. The power transmission device 60 is provided on the load transfer device, can face the power reception coil 63. The accumulation device 53 is charged by non-contact power transmission to the power reception coil 63 from the power transmission device 60 when a load is transferred by the load transfer device.SELECTED DRAWING: Figure 6

Description

  The present invention relates to a contactless charging system for an automatic guided vehicle and an automatic guided vehicle.

  As a prior art of a non-contact charging system for an automatic guided vehicle and an automatic guided vehicle, for example, an operation control system for an automatic guided vehicle disclosed in Patent Document 1 is known. In the operation control system of the automatic guided vehicle disclosed in Patent Literature 1, the automatic guided vehicle can be charged in a contactless manner in a transfer area as a loading / unloading space near the gantry crane where the container is loaded / unloaded. A charger is provided. The charger is arranged at a position that is a predetermined distance away from the side of the travel route, that is, in a direction perpendicular to the direction along the travel route (the left-right direction of the automatic guided vehicle). A plurality of chargers are installed at predetermined intervals along the travel route of the automatic guided vehicle.

  The charger includes a power transmission coil to which AC power is supplied. Correspondingly, the automatic guided vehicle is provided with a power receiving coil provided at a position where the automatic guided vehicle can face the power transmission coil, specifically, at the side of the automatic guided vehicle. According to such a configuration, when AC power is input to the power transmission coil in a situation where the power transmission coil of the charger and the power reception coil of the automatic guided vehicle face each other in the left-right direction within a predetermined distance, The power receiving coil receives AC power.

JP 2014-142704 A

  However, in the operation control system of the automatic guided vehicle disclosed in Patent Document 1, the charger is provided near the gantry crane, but is provided at a position away from the gantry crane. Therefore, when charging the power storage device of the automatic guided vehicle with the charger, the automatic guided vehicle must move to a place where the charger is provided, which causes a reduction in the operation rate of the automatic guided vehicle. There is a problem.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a non-contact charging system for an automatic guided vehicle and an automatic guided vehicle capable of improving the operation rate of the automatic guided vehicle. is there.

  In order to solve the above-described problems, the present invention provides a driving motor, a power storage device, and an automatic guided vehicle including a power receiving unit capable of receiving power by non-contact, and the automatic guided vehicle provided separately from the power receiving unit, so as not to contact the power receiving unit In the non-contact charging system of the automatic guided vehicle that is charged by non-contact power transmission from the power transmitting device to the power receiving unit, the power storage device is a travel route of the automatic guided vehicle. A load transfer machine that transfers the load to the automatic guided vehicle stopped at a preset load transfer position, and the power transmission device is provided on a side of the load transfer machine, The power storage device can be opposed to the power receiving unit, and the power storage device is charged by contactless power transmission from the power transmission device to the power receiving unit when the load is transferred by the load transfer machine.

  In the present invention, the automatic guided vehicle stops at the load transfer position for transferring the load, and the load is transferred to the stopped automatic guided vehicle. Since the power transfer device is provided in the load transfer device, the power storage device of the automatic guided vehicle can be charged by the non-contact power reception of the power receiving unit when the load is transferred by the load transfer device. That is, it is possible to improve the operation rate of the automatic guided vehicle by simultaneously transferring the load and charging the power storage device.

In the non-contact charging system for the automatic guided vehicle, the power receiving unit is provided in a side part of the automatic guided vehicle, and the power transmission device is provided in a side part of the load transfer machine. It is good.
In this case, even if the vehicle height of the automatic guided vehicle changes due to the presence or absence of a load in the automatic guided vehicle, there is almost no change in the distance between the power transmitting device and the power receiving unit, and the non-contact between the power transmitting device and the power receiving unit Transmission efficiency is hardly reduced.

In the non-contact charging system for the automatic guided vehicle described above, the load transfer machine may be configured to be movable along the travel route.
In this case, since the load transfer device can move along the travel route of the automatic guided vehicle, the load transfer position where charging can be performed can be changed.

In the non-contact charging system of the automatic guided vehicle, the power storage device is disposed close to a side portion of the automatic guided vehicle, and the load transfer device is configured to charge the power storage device when the power storage device is charged. It is good also as a structure provided with the air blower which blows toward.
In this case, the blower blows air toward the charging power storage device when the power storage device of the automatic guided vehicle is charged by non-contact power reception of the power receiving unit. For this reason, even if the charging of the power storage device by non-contact power reception by the power receiving unit is rapid charging, the power storage device arranged close to the side portion of the automatic guided vehicle is cooled by receiving air from the blower, The temperature rise of the apparatus can be suppressed.

In the non-contact charging system for the automatic guided vehicle, the traveling drive source provided in the automated guided vehicle, a control device for controlling the traveling drive source, the load transfer machine, A transmitter that transmits a signal indicating a transfer position; and a receiver that is connected to the control device and receives the signal, the control device including the load transfer position based on the signal and the unmanned conveyance It is good also as a structure which compares the present position of a vehicle and controls the said travel drive source according to the difference of the present position of the said automatic guided vehicle and the said load transfer position.
In this case, the control device compares the load transfer position based on the signal of the transmitter with the current position of the automatic guided vehicle, and determines the travel drive source according to the difference between the current position of the automatic guided vehicle and the load transfer position. To control. As the difference between the current position of the automatic guided vehicle and the load transfer position becomes smaller, the control device controls the traveling drive source to stop when there is no difference in position. As a result, the automatic guided vehicle can be accurately stopped at the load transfer position.

In addition, the present invention includes a travel motor, a power storage device, and a power receiving unit capable of receiving power by non-contact, and the power storage device is charged by non-contact power transmission from a power transmitting device provided separately from the automatic guided vehicle to the power receiving unit. In the automatic guided vehicle, the power transmission device is provided in a load transfer machine that transfers the load to the automatic guided vehicle stopped at a load transfer position set in advance in a travel route of the automatic guided vehicle, The power storage unit can face the power receiving unit, and the power storage device is charged by non-contact power transmission from the power transmission device to the power receiving unit when the load is transferred by the load transfer machine.
In the present invention, when the load is transferred by the load transfer device, the power storage device of the automatic guided vehicle can be charged by the non-contact power reception of the power receiving unit.

  ADVANTAGE OF THE INVENTION According to this invention, the non-contact-type charging system and automatic guided vehicle of an automatic guided vehicle which can aim at the working rate improvement of an automatic guided vehicle can be provided.

It is a schematic diagram of the container terminal to which the non-contact type charging system concerning this embodiment was applied. It is a front view which shows the outline | summary of the gantry crane which concerns on this embodiment. It is a side view showing the outline of the gantry crane concerning this embodiment. It is a front view which shows the outline | summary of the rubber tire crane which concerns on this embodiment. It is a side view which shows the outline | summary of the rubber tire crane which concerns on this embodiment. It is a top view which shows the outline | summary of the power transmission apparatus of a gantry crane and the automatic guided vehicle for containers. It is a top view which shows the outline | summary of the power transmission apparatus and automatic guided vehicle for containers of a rubber tire crane.

  Hereinafter, a container terminal as a port facility according to the present embodiment will be described with reference to the drawings. In the container terminal of this embodiment, the non-contact charging system and the automatic guided vehicle of the automatic guided vehicle of the present invention are applied.

  As shown in FIG. 1, the container terminal 10 has a quay 12 on which a container ship 11 as a ship can berth. The container ship 11 has a hull capable of loading a large number of ISO standard containers (hereinafter referred to as “containers”) C, and can berth in a state where the berth side and the quay 12 face each other. In the container terminal 10, a gantry crane 13 is disposed along the quay 12 as a load transfer machine that transfers the container C to and from the container ship 11 in a berthing state. The gantry crane 13 can reciprocate parallel to the quay 12. The configuration of the gantry crane 13 will be described later.

  The container terminal 10 includes a container yard 14 as an area for temporarily storing the container C. The container yard 14 is provided with a rubber tire crane 15 as a load transfer machine for handling the container C. The configuration of the rubber tire crane 15 will be described later.

  The container terminal 10 is provided with a travel route 16 of the automatic guided vehicle 17 for containers. The travel route 16 is a route for circulating the containerless automatic guided vehicle 17 between the gantry crane 13 and the rubber tire crane 15 in one direction. In the container terminal 10, an operation control device 18 that controls the operation of the automatic guided vehicle 17 for containers is provided in the control tower 19. The configuration of the automatic guided vehicle 17 for containers as the automatic guided vehicle will be described later. The operation control device 18 can wirelessly communicate with the container automated guided vehicle 17 and instructs the container automated guided vehicle 17 to travel along the travel route 16.

  Next, the gantry crane 13 will be described. The gantry crane 13 transfers the container C between the container ship 11 and the container automated guided vehicle 17. As shown in FIG. 2, the gantry crane 13 includes a sea-side leg 21 and a land-side leg 22. As shown in FIG. 3, the leg portion 22 has a gate shape when the gantry crane 13 is viewed from the side. In addition, although the leg part 21 is also a gate type, only the leg part 22 is illustrated in FIG. Wheels 24 that roll on a running track 23 laid in parallel to the quay 12 are provided below the legs 21 and 22. As shown in FIG. 3, a horizontal member 25 parallel to the traveling track 23 is provided at the lower portion of the leg portion 22. A horizontal member (not shown) similar to the horizontal member 25 is provided at the lower portion of the leg portion 21. A pair of horizontal jibs 26 are provided on the upper portions of the legs 21 and 22. The horizontal jib 26 is attached to the legs 21 and 22 so as to extend in the horizontal direction, and the tip of the horizontal jib 26 on the sea side protrudes on the sea.

  The horizontal jib 26 is provided with a trolley 27 that can reciprocate in the longitudinal direction of the horizontal jib 26. A container spreader 28 is suspended from the trolley 27 by a wire 29 so as to be movable up and down. The container spreader 28 can be transferred by suspending the container C. The trolley 27 is movable to the vicinity of both ends of the horizontal jib 26. A power chamber 30 is installed near the land 22 on the land side of the horizontal jib 26. The power chamber 30 is provided with devices such as a drive source for operating each part of the gantry crane 13, and each part of the gantry crane 13 is operated by electric power. Further, the power chamber 30 is provided with a control unit (not shown) for controlling each device of the gantry crane 13. Although not shown, the trolley 27 is provided with a cab for an operator who operates the gantry crane 13.

  The position facing the land-side leg 22 of the gantry crane 13 in the travel route 16 is a load transfer position P1 (see FIG. 1). When the container C is transferred by the gantry crane 13, the container automated guided vehicle 17 is stopped at the load transfer position P1. Since the gantry crane 13 can travel, the load transfer position P <b> 1 moves according to the position of the gantry crane 13. As shown in FIG. 3, a transmitter 31 that transmits the position of the load transfer position P <b> 1 to the automatic guided vehicle 17 for a container traveling on the traveling route 16 is provided at the lower portion of the land-side leg portion 22 of the gantry crane 13. ing.

  Next, the rubber tire crane 15 will be described. As shown in FIGS. 4 and 5, a pair of portal frames 35 are provided. The gate-type frame 35 is disposed so as to straddle the traveling path 16 of the container yard 14 and the automatic guided vehicle 17 for containers. In the present embodiment, a traveling path 36 of the container trailer T for carrying the container C into and out of the container yard 14 is set between the container yard 14 and the traveling path 16 (see FIG. 1). The travel route 36 is a route for causing the container trailer T to travel in one direction. The portal frame 35 straddles the travel routes 16 and 36. The rubber tire crane 15 transfers the container C between the container automated guided vehicle 17 and the container trailer T and the container yard 14.

  The portal frame 35 includes a pair of legs 37, and a horizontal member 38 that connects the tops of the legs 37 to each other is provided above the pair of legs 37. The pair of portal frames 35 are connected to each other by a plurality of connecting members 39, 40, 41, 42. A plurality of wheels 44 including rubber tires are provided at the lower portion of the leg portion 37. The rubber tire crane 15 is provided with a travel drive source (not shown), and is movable along the travel route 16. The horizontal member 38 is provided with a trolley 45 that can reciprocate in the longitudinal direction of the horizontal member. A container spreader 46 is suspended from the trolley 45 by a wire 47 so as to be movable up and down. The container spreader 46 can be transferred by suspending the container C. As shown in FIG. 5, a control unit 48 that controls each part of the rubber tire crane 15 is provided below the leg portion 37. The control unit 48 can communicate with the operation control device 18 and controls each unit upon receiving a command from the operation control device 18. That is, the rubber tire crane 15 of the present embodiment is remotely operated by the operation control device 18.

  The position facing the sea-side leg portion 37 of the rubber tire crane 15 in the travel route 16 is a load transfer position P2 (see FIG. 1). When the container C is transferred by the rubber tire crane 15, the automatic guided vehicle for containers 17 is stopped at the load transfer position P2. Since the rubber tire crane 15 can travel, the load transfer position P <b> 2 moves according to the position of the rubber tire crane 15. A transmitter 49 that transmits the position of the load transfer position P <b> 2 to the containerless automatic guided vehicle 17 that travels along the travel path 16 is provided below the leg portion 22 on the land side of the rubber tire crane 15. The transmitter 49 has the same configuration as the transmitter 31 provided in the gantry crane 13.

  Next, the automatic guided vehicle 17 for containers of this embodiment is demonstrated. As shown in FIG. 6, the vehicle body 50 of the container automated guided vehicle 17 includes a loading platform 51 on which the container C can be mounted and a plurality of drive wheels 52 that support the vehicle body 50. Each drive wheel 52 is provided with an electric motor 59 as a travel motor. The containerless guided vehicle 17 travels by receiving the driving force of the electric motor 59. The vehicle body 50 is lowered by mounting the container C on the loading platform 51 and approaches the road surface, and is raised when the loading platform 51 on which the container C is transferred becomes empty.

  A power storage device 53, a power conversion device 54, a controller 55, and a communication unit 56 are mounted on the vehicle body 50. The power storage device 53 can supply electric power to the electric motors 59 and can store regenerative electric power generated by the electric motors 59. The power storage device 53 is, for example, a nickel metal hydride battery. The power storage device 53 is installed close to the side portion 57 facing the gantry crane 13 and the rubber tire crane 15 in the vehicle body 50.

  The power conversion device 54 includes an inverter (not shown), converts the DC power of the power storage device 53 into AC power and supplies it to the electric motor 59, and also generates regenerative power generated by the electric motor 59 from the AC power. It has a function of converting into DC power and storing power in the power storage device 53.

  The controller 55 controls each part of the automatic guided vehicle 17 for containers including the electric motor 59 and the power conversion device 54. The controller 55 includes an arithmetic processing unit (not shown) that performs program execution and various arithmetic processes, and a storage unit (storage unit) that stores programs and data. The communication unit 56 has a function of communicating with the operation control device 18 by wireless communication, and is connected to the controller 55. Therefore, when the communication unit 56 receives an operation command from the operation control device 18, the controller 55 controls each unit so that the container-less automatic guided vehicle 17 travels on the travel route 16 based on the operation command.

  The container automated guided vehicle 17 includes a receiver 58 that can receive signals from the transmitters 31 and 49. The receiver 58 is connected to the controller 55, and the received signals from the transmitters 31 and 49 are transmitted to the controller 55. Based on the signal transmitted from the receiver 58, the controller 55 controls each part so as to position the automatic guided vehicle 17 for the container with respect to the load transfer positions P1 and P2. Specifically, the controller 55 compares, for example, the load transfer position P1 based on the signal of the transmitter 31 with the current position of the automatic guided vehicle 17 for containers, and determines the difference between the current position and the load transfer position P1. The electric motor 59 is controlled accordingly. As the difference between the current position of the container automated guided vehicle 17 and the load transfer position P1 decreases, the controller 55 controls the electric motor 59 to stop the container automated guided vehicle 17 when there is no difference in position. To do. Similarly, the controller 55 receives the signal from the transmitter 49 and controls the electric motor 59 according to the difference between the current position relative to the load transfer position P2. The receiver 58 faces the transmitters 31 and 49 when the containerless guided vehicle 17 stops at the load transfer positions P1 and P2.

  By the way, in the container terminal 10 of this embodiment, the non-contact charging system (henceforth "non-contact charging system") of an automatic guided vehicle is employ | adopted. As shown in FIGS. 2 and 3, a power transmission device 60 that can transmit power to the containerless automatic guided vehicle 17 in a non-contact manner is provided on the side portion of the horizontal member 25 of the gantry crane 13 of the present embodiment. . The power transmission device 60 includes a power transmission coil 61 as a power transmission unit. Further, the gantry crane 13 is provided with a blower 62 toward the traveling path 16. The blower 62 is provided to cool the power storage device 53 during the quick charging of the containerless guided vehicle 17 by non-contact power transmission. The installation position of the blower 62 in the gantry crane 13 is set so that the blower 62 faces the power storage device 53 when the containerless guided vehicle 17 stops at the load transfer position P1. The power transmission device 60 and the blower 62 are connected to a control unit (not shown) provided in the power chamber 30 and are controlled by this control unit.

  On the other hand, as shown in FIG. 6, the vehicle body 50 of the containerless automatic guided vehicle 17 includes a power receiving coil 63 as a power receiving unit and a rectifier 64 connected to the power receiving coil 63. The power reception coil 63 can receive AC power from the power transmission coil 61 of the power transmission device 60 provided in the gantry crane 13 in a non-contact manner. The rectifier 64 rectifies the AC power received by the power receiving coil 63. The rectifier 64 is connected to the power storage device 53, and the power storage device 53 stores the power rectified through the rectifier 64.

  The height of the power receiving coil 63 from the road surface substantially coincides with the height of the power transmitting coil 61 from the road surface. For this reason, when the container automatic guided vehicle 17 stops at the load transfer position P1, the power receiving coil 63 and the power transmitting coil 61 face each other. That is, the power transmission coil 61 can face the power reception coil 63. When the loading platform 51 is empty, the power receiving coil 63 and the power transmission coil 61 face each other, and even if the vehicle body 50 is lowered due to the loading of the container C on the loading platform 51, the positional deviation amount between the power receiving coil 63 and the power transmission coil 61. Has almost no effect on contactless power transmission.

  As described above, the contactless charging system according to the present embodiment includes the power transmission device 60 provided in the gantry crane 13 and the automatic guided vehicle 17 for containers. In this non-contact charging system, as shown in FIG. 7, not only the gantry crane 13 but also the rubber tire crane 15 is provided with a power transmission device 70 that transmits power to the containerless guided vehicle 17 in a non-contact manner. The non-contact power transmission of the present embodiment is an electromagnetic induction type non-contact power transmission using an electromotive force generated by a change in the strength of magnetic flux passing between the power transmission coil 31 and the power receiving coil 63.

  The power transmission device 70 is provided on the side portion of the connecting member 39 of the rubber tire crane 15. The power transmission device 70 includes a power transmission coil 71 as a power transmission unit. Further, the rubber tire crane 15 is provided with a blower 72 toward the traveling route 16. The blower 72 is provided to cool the power storage device 53 during the quick charging of the containerless guided vehicle 17 for non-contact. The power transmission device 70 and the blower 72 are connected to the control unit 48 and controlled by the control unit 48.

  The installation position of the power transmission coil 71 in the rubber tire crane 15 is set so that the power reception coil 63 and the power transmission coil 71 face each other when the containerless guided vehicle 17 stops at the load transfer position P2. The installation position of the blower 72 in the rubber tire crane 15 is set so that the blower 72 faces the power storage device 53 when the containerless guided vehicle 17 stops at the load transfer position P2.

  Next, non-contact charging to the container automatic guided vehicle 17 by the non-contact charging system according to the present embodiment will be described. In the present embodiment, as shown in FIG. 1, the automatic guided vehicle 17 for containers travels with the travel route 16 directed in one direction. The containerless guided vehicle 17 performs wireless communication with the operation control device 18 via the communication unit 56, and the controller 55 controls each part of the vehicle body 50 based on a command from the operation control device 18 and starts and stops.

  When the container automatic guided vehicle 17 that is traveling approaches the load transfer position P <b> 1, the receiver 58 provided in the vehicle body 50 receives a signal from the transmitter 31 provided in the gantry crane 13. The signal from the transmitter 31 indicates the position of the gantry crane 13, and the controller 55 controls the electric motor 59 on the basis of the signal received so that the automatic guided vehicle 17 for container stops at the load transfer position P1. The container automated guided vehicle 17 stops at the load transfer position P1.

  As shown in FIG. 6, when the containerless guided vehicle 17 stops at the load transfer position P <b> 1, the power transmission coil 61 of the power transmission device 60 and the power reception coil 63 provided on the side portion 57 of the vehicle body 50 face each other. Further, the blower 62 and the power storage device 53 provided close to the side portion 57 of the vehicle body 50 face each other. Furthermore, the transmitter 31 provided in the gantry crane 13 and the receiver 58 provided in the automatic guided vehicle 17 for a container face each other. When the container automated guided vehicle 17 stops at the load transfer position P1, the gantry crane 13 starts transferring the container C from the container ship 11 to the loading platform 51.

  Transfer of the container C by the gantry crane 13 is performed by an operator operation on the gantry crane 13. First, the operator moves the trolley 27 on the horizontal jib 26 above the container ship 11 and lowers the container spreader 28. Next, the operator suspends the container C from the lowered container spreader 28 and then raises the container C to move the trolley 27 above the automatic guided vehicle 17 for containers. When the trolley 27 is moved above the container automatic guided vehicle 17, the operator lowers the container spreader 28 that holds the container C and places the container C on the loading platform 51.

  On the other hand, when the containerless guided vehicle 17 stops at the load transfer position P1, the container C is transferred by the gantry crane 13, and non-contact power transmission from the power transmission coil 61 of the power transmission device 60 to the power reception coil 63 is performed. The power storage device 53 is charged through the power receiving coil 63. Since the traveling path 16 of the containerless guided vehicle 17 and the traveling track 23 of the gantry crane 13 are parallel, the distance between the power transmission coil 61 and the power receiving coil 63 at the load transfer position P1 is kept within a predetermined distance. .

  When AC power is input to the power transmission coil 61 in a state where the distance between the power transmission coil 61 and the power reception coil 63 is maintained within a predetermined distance, the power reception coil 63 receives AC power. The AC power received by the power receiving coil 63 is rectified by the rectifier 64 to become DC power and is stored in the power storage device 53. That is, the non-contact charging of the power storage device 53 by the power transmission device 60 is performed while the container C is being transferred by the gantry crane 13. Since the non-contact charging of the power storage device 53 by the power transmission device 60 is rapid charging, the temperature of the power storage device 53 rises, but the blower 62 operates during the non-contact charging of the power storage device 53, and the power storage device 53 is driven by the blower 62. It receives air and is cooled. For this reason, a temperature rise due to rapid charging of the power storage device 53 is suppressed, and deterioration due to a temperature rise of the power storage device 53 is suppressed.

  When the loading of the container C on the loading platform 51 is completed, the container automated guided vehicle 17 starts traveling. The completion of the mounting of the container C on the loading platform 51 may be detected by, for example, a load detection sensor (illustrated) provided in the vehicle body 50 and the controller 55 using a signal from the load detection sensor. When the loading of the container C on the loading platform 51 is completed, a power transmission stop command is transmitted to the power transmission device 60 through the operation control device 18. The power transmission by the power transmission device 60 is stopped based on a command to stop power transmission, charging of the power storage device 53 is completed, and the operation of the blower 62 is stopped. The container automatic guided vehicle 17 on which the container C is mounted on the loading platform 51 and has completed the non-contact charge travels toward the container yard 14 and stops at the load transfer position P2.

  As shown in FIG. 7, when the container automated guided vehicle 17 on which the container C is mounted stops at the load transfer position P <b> 2, power reception provided on the power transmission coil 71 of the power transmission device 70 and the side portion 57 of the vehicle body 50. The coil 63 faces. Further, the blower 72 and the power storage device 53 provided close to the side portion 57 of the vehicle body 50 face each other. Furthermore, the transmitter 49 provided in the rubber tire crane 15 and the receiver 58 provided in the automatic guided vehicle 17 for a container face each other. When the container automated guided vehicle 17 stops at the load transfer position P2, the rubber tire crane 15 starts transferring the container C from the loading platform 51 to the container yard 14.

  The transfer of the container C by the rubber tire crane 15 is performed based on a command from the operation control device 18. First, the trolley 45 on the horizontal member 38 is moved above the automatic guided vehicle 17 for containers, and then the container spreader 46 is lowered. When the lowered container spreader 46 lifts the container C of the loading platform 51, the container spreader 46 is lifted, and the trolley 45 is moved above the container yard 14. When the trolley 45 moves above the container yard 14, the container spreader 46 descends and the container C is placed on the container yard 14.

  On the other hand, when the container automated guided vehicle 17 stops at the load transfer position P <b> 2, the container C is transferred by the rubber tire crane 15, and power is transmitted to the power receiving coil 63 by the power transmission device 70 in a non-contact manner. The charged power storage device 53 is charged. Since the traveling path 16 of the containerless automatic guided vehicle 17 and the traveling direction of the rubber tire crane 15 are parallel, the distance between the power transmission coil 71 and the power reception coil 63 at the load transfer position P2 is kept within a predetermined distance. .

  When AC power is input to the power transmission coil 71 while the power transmission coil 71 and the power reception coil 63 are kept within a predetermined distance, the power reception coil 63 receives AC power. The AC power received by the power receiving coil 63 is rectified by the rectifier 64 to become DC power and is stored in the power storage device 53. That is, the non-contact charging of the power storage device 53 by the power transmission device 70 is performed while the container C is being transferred by the rubber tire crane 15. Since the non-contact charging of the power storage device 53 by the power transmission device 70 is rapid charging, the temperature of the power storage device 53 rises, but the blower 72 operates during the non-contact charging of the power storage device 53, and the power storage device 53 is driven by the blower 72. It receives air and is cooled. For this reason, the temperature rise of power storage device 53 is suppressed, and deterioration due to the temperature rise of power storage device 53 is suppressed.

  When the transfer of the container C to the container yard 14 is completed, the container automated guided vehicle 17 starts traveling. The completion of the transfer of the container C to the container yard 14 may be transmitted to the controller 55 by the operation control device 18, for example. The power transmission device 70 and the blower 72 are instructed to stop power transmission and blow by the control unit 48 provided in the rubber tire crane 15 when the transfer of the container C to the container yard 14 is completed. For this reason, the power transmission by the power transmission device 70 is stopped, the charging of the power storage device 53 is completed, and the operation of the blower 72 is stopped. The container automated guided vehicle 17 having transferred the container C to the container yard 14 and completed the non-contact charge travels toward the gantry crane 13 and stops at the load transfer position P1.

The charging system according to the present embodiment has the following effects.
(1) The container automatic guided vehicle 17 stops at the load transfer position P1 (P2) for transferring the container C, and the container for the container automatic guided vehicle 17 stopped at the load transfer position P1 (P2). C is transferred. Since the power transmission device 60 (70) is provided in the gantry crane 13 (rubber tire crane 15), when the container C is transferred by the gantry crane 13 (rubber tire crane 15), non-contact power reception of the power receiving coil 63 causes the power storage device 53 to Charging can be performed. That is, by performing the transfer of the container C and the charging of the power storage device 53 at the same time, it is possible to improve the operating rate of the container-less automated guided vehicle 17.

(2) The power transmission coil 61 (71) is provided on the side portion of the gantry crane 13 (rubber tire crane 15), and the power reception coil 63 is provided on the side portion 57 of the vehicle body 50. For this reason, even if the vehicle height of the vehicle body 50 changes due to the presence or absence of the container C in the loading platform 51, there is almost no variation in the distance between the power transmission coil 61 (71) and the power reception coil 63, and the power transmission coil 61 (71) The power transmission efficiency due to non-contact with the power receiving coil 63 hardly decreases.

(3) The gantry crane 13 (rubber tire crane 15) is movable along the travel path 16 of the containerless automatic guided vehicle 17. For this reason, the load transfer position P <b> 1 (P <b> 2) that can be charged can be changed in the direction along the travel route 16.

(4) The power storage device 53 of the containerless automatic guided vehicle 17 is disposed close to the side portion 57 of the vehicle body 50, and the gantry crane 13 (rubber tire crane 15) is directed toward the power storage device 53 when the power storage device 53 is charged. And a blower 62 (72) for blowing air. For this reason, the blower 62 (72) blows air toward the power storage device 53 that is being charged when the power storage device 53 of the containerless automatic guided vehicle 17 is charged by non-contact power reception of the power receiving coil 63. For this reason, even if the charging of the power storage device 53 by the non-contact power reception of the power receiving coil 63 is rapid charging, the power storage device 53 is cooled by receiving the air blowing, and the temperature rise due to the rapid charging of the power storage device 53 can be suppressed. it can. Therefore, as compared with the case where the power storage device 53 is not cooled, deterioration of the power storage device 53 can be suppressed and the useful life of the power storage device 53 can be extended.

(5) The containerless guided vehicle 17 includes an electric motor 59, a controller 55, and a receiver 58 that receives a signal from the transmitter 31 (49) provided in the gantry crane 13 (rubber tire crane 15). . The controller 55 compares the load transfer position P1 (P2) based on the signal from the transmitter 31 (49) with the current position of the container automatic guided vehicle 17, and determines the current position and the load transfer position P1 (P2). The electric motor 59 is controlled according to the difference. As the difference between the current position of the containerless automatic guided vehicle 17 and the load transfer position P1 (P2) decreases, the controller 55 causes the electric motor to stop the containerless automatic guided vehicle 17 when there is no difference in position. 59 is controlled. As a result, even if the load transfer position P1 (P2) is changed, the containerless guided vehicle 17 can be stopped at the load transfer position P1 (P2) with high accuracy. In addition, it is not necessary to provide an expensive navigation device in the containerless guided vehicle 17, and an increase in the manufacturing cost of the containerless guided vehicle 17 can be suppressed.

(6) The proportion of the electric power that is charged in a non-contact manner out of the electric power necessary for the container automated guided vehicle 17 carrying the container C to move between the load transfer position P1 and the load transfer position P2. As the size increases, the power storage device 53 can be made smaller than before. By reducing the size of the power storage device 53, it is possible to reduce the weight of the containerless guided vehicle 17 and to reduce the manufacturing cost of the containerless guided vehicle 17.

(7) Since the contactless charging is performed simultaneously with the transfer of the container C by the gantry crane 13, the operator of the gantry crane 13 does not need to be aware of the contactless charging by the power transmission device 60 (70), and the container C is transferred. It is possible to concentrate on the operation for loading.

(8) Since the power transmission coil 61 (71) and the power reception coil 63 of the power transmission device 60 (70) are contactless power transmission, the power storage device 53 of the containerless automatic guided vehicle 17 can be charged regardless of the weather.

  The present invention is not limited to the above-described embodiment, and various modifications are possible within the scope of the gist of the invention. For example, the following modifications may be made.

In the above embodiment, it is assumed that the load transfer machine for transferring the load is movable along the travel route of the automatic guided vehicle, but this is not the case. The load transfer machine may be a fixed transfer machine that is not moved along the travel route of the automatic guided vehicle.
In the above embodiment, the load transfer device includes the blower that blows air toward the power storage device when the power storage device is charged. The load transfer machine does not necessarily include a blower.
In the above embodiment, the container C is transferred from the container ship 11 to the automatic guided vehicle 17 for the container at the load transfer position P1, but this is not restrictive. The container C mounted on the loading platform 51 may be transferred from the container automated guided vehicle 17 to the container ship 11 at the load transfer position P1. In the above embodiment, the container C is transferred from the container automated guided vehicle 17 to the container yard 14 at the load transfer position P2, but this is not restrictive. At the load transfer position P2, the container C may be transferred from the container yard 14 to the automatic guided vehicle 17 for containers.
In the above embodiment, the transmitter includes a transmitter that transmits a signal indicating the load transfer position, and a receiver that receives the signal of the transmitter, and the control device is a current automatic guided vehicle based on the signal of the transmitter. Although the traveling drive source was controlled according to the difference between the position and the load transfer position, the present invention is not limited to this. For example, a plurality of load transfer positions corresponding to the load transfer machine are set in advance, and stopped at a specific load transfer position among the plurality of load transfer positions based on a command of the operation control device. Also good.
In the above embodiment, the power storage device is charged by non-contact power transmission only when the load is transferred. The power transmission device may be operated from when the power reception unit starts to face the power transmission device before stopping at the load transfer position. Alternatively, the power transmission device may be operated until the automatic guided vehicle starts to travel after the load is transferred and the power reception unit leaves the power transmission device. In this case, since the power storage device is charged before and after the load is transferred, charging by non-contact power transmission can be performed more efficiently.
In the above embodiment, charging of the power storage device that is performed simultaneously with the transfer of the container is quick charging, but normal charging other than rapid charging may be used.
In the above embodiment, container transportation is exemplified as the transportation system, but the load of the transportation system is not limited to the container. The load may be other than a container.

DESCRIPTION OF SYMBOLS 10 Container terminal 13 Gantry crane 14 Container yard 15 Rubber tire crane 16 Travel path 17 Container automatic guided vehicle 18 Operation control apparatus 25 Horizontal member 31 Transmitter 48 Control part 49 Transmitter 51 Loading platform 52 Drive wheel 53 Power storage apparatus 55 Controller 57 Side portion 58 Receiver 59 Electric motor 60, 70 Power transmission device 61, 71 Power transmission coil 62, 72 Blower 63 Power reception coil 64 Rectifier C Container P1, P2 Load transfer position

Claims (6)

An automatic guided vehicle including a traveling motor, a power storage device, and a power receiving unit capable of receiving power by non-contact;
A power transmission device provided separately from the automatic guided vehicle and capable of transmitting power to the power receiving unit in a non-contact manner;
In the non-contact charging system of the automatic guided vehicle, the power storage device is charged by non-contact power transmission from the power transmission device to the power receiving unit.
A load transfer machine for transferring a load to the automatic guided vehicle stopped at a load transfer position set in advance in a travel route of the automatic guided vehicle;
The power transmission device is provided in the cargo transfer machine, and can be opposed to the power receiving unit,
The power storage device is charged by non-contact power transmission from the power transmission device to the power receiving unit when the load is transferred by the load transfer machine. The power receiving unit is provided on a side portion of the automatic guided vehicle,
The contactless charging system for an automatic guided vehicle according to claim 1, wherein the power transmission device is provided on a side portion of the load transfer device.   The contactless charging system for an automatic guided vehicle according to claim 1, wherein the load transfer device is movable along the travel route. The power storage device is disposed close to a side portion of the automatic guided vehicle,
The said load transfer machine is provided with the air blower which blows toward the said electrical storage apparatus at the time of charge of the said electrical storage apparatus, The non-contact type of the automatic guided vehicle as described in any one of Claims 1-3 characterized by the above-mentioned. Charging system. A travel drive source provided in the automatic guided vehicle;
A control device for controlling the travel drive source;
A transmitter which is provided in the load transfer machine and transmits a signal indicating the load transfer position;
A receiver connected to the control device and receiving the signal,
The control device compares the load transfer position based on the signal and the current position of the automatic guided vehicle,
The non-contact type of the automatic guided vehicle according to any one of claims 1 to 4, wherein the traveling drive source is controlled according to a difference between a current position of the automatic guided vehicle and the load transfer position. Charging system. A travel motor, a power storage device, and a power receiving unit that can receive power by non-contact,
In the automatic guided vehicle charged by non-contact power transmission from the power transmission device provided separately from the automatic guided vehicle to the power receiving unit,
The power transmission device is provided in a load transfer machine that transfers a load to the automatic guided vehicle that is stopped at a load transfer position set in advance in a travel route of the automatic guided vehicle, and is opposed to the power receiving unit. Is possible,
The automatic storage vehicle is charged with non-contact power transmission from the power transmission device to the power receiving unit when the load is transferred by the load transfer machine.

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